Why can't I move the camera as freely as I can navigate in the 3D View?
The camera has absolutely no restrictions whatsoever. Normally you can move it just like you can move any object with your Move, Rotate and Scale tools. 

If you want something like a first-person-mode expand the side panel on the right edge of your 3D-view (or hit the N-key on your keyboard) and then go to the tab View->View Lock and toggle Lock Camera to View. This will "bind" the camera to your viewport perspective. 

Once you're happy with your camera position un-toggle the option to move freely again, without accidentally displacing your camera.